本文研究船舶航跡的魯棒自適應(yīng)模糊控制，考慮環(huán)境干擾影響設(shè)計(jì)控制器，達(dá)到了更好的控制效果，較現(xiàn)有的方法有所改進(jìn)。 修改建議：英文摘要改為： Abstract：For the model of ship linear path-keeping motion, Input-to-State Stability theory was used to verify that the interested system is ISS. A novel algorithm combined Nussbaum gain with the backstepping techniques was proposed by employing fuzzy systems as approximator of those unknown nonlinearities in the system. It proved that the proposed algorithm could guarantee the closed-loop system uniformly ultimate bound, the output converging to a small neighborhood of zero, so that ship linear path-keeping control can be implemented. Simulation results are presented to validate the effectiveness.P.2上式（4）中的∆2應(yīng)予以解釋?zhuān)籔.3上第2節(jié)倒數(shù)第3行中的“解藕”應(yīng)為“解耦”；P.6上第3節(jié)倒數(shù)第2段中對(duì)圖1的說(shuō)明中的“文獻(xiàn)[?]”應(yīng)給出文獻(xiàn)號(hào)。